Event-triggered Consensus of Heterogeneous Multi-agent Systems with Double-Integrator Dynamics

This paper studies the second-order consensus problem for multi-agent systems (MASs) associated with an event-triggered update policy. We first investigate the topological properties of the heterogeneous position and velocity information graph to guarantee consensus. Then, consensus protocols using an event-triggered update law are analyzed for the centralized and distributed cases. In particular, we establish an event-triggered scheduling policy ensuring that the MAS exponentially achieves consensus. Furthermore, a positive lower bound for inter-event times is derived to guarantee the absence of Zeno behavior. Finally, simulations are provided to demonstrate the effectiveness of proposed approach.